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After sneaking into his best friend Jimmy Neutron's laboratory and finding Jimmy's secret rocket ship, Sheen Estevez accidentally blasts himself into outer space when he disobeyed Jimmy's warning note ("Sheen, do not press this button.") and pressed the button Jimmy mentioned in his note. Four million and one light years away, Sheen crashes on Zeenu — an odd planet inhabited by aliens called Zeenunians. Soon after the crash, Sheen wants to go home, but his rocket ship was smashed when he flew into a house belonging to a Zeenunian named Dorkus, whose name Sheen ridicules for its similarity to the word "dork."

Dorkus (who is one of the chief advisors to the Emperor) is furious that Sheen destroyed his home, and intends to destroy him. Unfortunately, the Emperor takes a liking to Sheen and thwarts his plans at every turn. Much of the show is centered around Sheen fixing his rocket, working for the Emperor and annoying Dorkus with his antics and wild destruction, and Dorkus trying (and failing) to get back at him for it. While on Zeenu, Sheen makes many new acquaintances, some of which include Doppy Dopweailer (a green, slug-like creature who resembles Sheen's friend on Earth, Carl Wheezer), Emperor (the grand head ruler of Zeenu, who firmly believes Sheen is a supernatural creature that will bring joy to Zeenu), Nesmith (an intelligent chimpanzee from Earth who excels in subjects such as math and engineering), and a Zeenunian girl named Aseefa who becomes Sheen's crush. Aseefa has a pet Choctow (the most feared and dangerous creature on Zeenu) named Chock Chock.

Sheen Estevez (voiced by Jeff Garcia) is a dim-witted, lanky, hyperactive 13-year-old boy and the protagonist of the series. As the Royal Advisor of Zeenu's Emperor, Sheen often has to save the day by himself, unlike his role in the original series. He develops a crush on a Glimmorian (Zeenu Race) warrior named Aseefa.

Nesmith (voiced by Bob Joles) is a chimpanzee from Earth who has been living on Zeenu for 48 years. He came to Zeenu as a normal chimpanzee, but after his rocket crashed in 1962, he developed advanced intelligence and the ability to speak because of the extreme atmospheric pressure. On Earth, he was a circus performer, along with his wife, Beverly. Mr. Nesmith is often fed-up with Sheen's antics, but tolerates him in hopes that they may be able to fix Sheen's rocket and return to Earth. He lives with Sheen in their apartment on Zeenu. His wool cap and name is in reference to Michael Nesmith of the 1960s pop rock group The Monkees. His attire is similar to Steve Zissou's from the Wes Anderson Film The Life Aquatic with Steve Zissou. He is Jimmy Neutron's counterpart of the show. He is often mistaken as a monkey.

Dorkus Aurelius (voiced by Jeff Bennett) is the main antagonist of the series. He was the Emperor's #1 royal advisor. When Sheen's rocket crashlands on Dorkus' house, the Emperor takes a liking to Sheen and gives him Dorkus' position. As a result, Dorkus wants revenge on Sheen, and often tries to destroy him. Despite this, Sheen still enjoys teasing Dorkus, usually about his name and is unaware of his attempts to destroy him. It is revealed that his last name is Aurelius in the episode "Trial by Jerry" (presumably a reference to Roman emperor Marcus Aurelius). A recurring gag is that in most of the episodes he's in his house gets destroyed somehow. He also says phrases like 'Oh, Grock!' in terms of exclamation.

Pinter (voiced by Thomas Lennon) is a small, orange, eyeball-like creature with small, two-toed feet and bat-like wings. He is the minion of Dorkus. Dorkus often takes out his rage on Pinter when his evil plans fail, but Pinter still adores Dorkus nonetheless.

Emperor (voiced by Fred Tatasciore) is a small, purple squid-like lump of goo who could not be happier to have Sheen Estevez on Planet Zeenu. He has 11 tentacles for a beard and eight points on his crown. In the Emperor's eyes, Sheen is the mythological bearer of peace, prosperity and joy whose arrival is foretold in the Book of Great Goodness (Zeenu's equivalent of the Bible). After watching Sheen defeat terrible beasts, the Emperor not only promotes Sheen to top advisor but also tries to get him to marry his daughter, Princess Oom.

Princess Oomlout (voiced by Candi Milo First Face & Debi Derryberry Second Face) Full first name Oomlout, a purple alien and the daughter of the Emperor. She wears a futuristic yellow dress with a tutu and is much taller than her father. Oomlout is madly in love with Sheen and tries to seduce him with her two faces, despite the fact that Sheen is afraid of her. It is shown in one episode that she was born with only one face, and one day she sneezed too hard and another popped out. She seems to not like Aseefa, mostly because of Aseefa's scary warrior face. She most likely knows that Sheen does not like her, but she does not care. She often follows Sheen around and gives him "raffenhoffer" (a raffenhoffer is where she licks Sheen with her long tongue).

Doppy Dopweiler (voiced by Rob Paulsen) The Zeenunian version of Carl Wheezer, one of Sheen's friends in the original series. He resembles a green slug with Carl's face, and wears two pairs of glasses on his four eyes. Like Carl, he can be overly worried about things and can easily feel insulted. Doppy is timid and dimwitted, but quickly makes friends with Sheen. He idolizes Dorkus, who always tries to trick him into harming Sheen. He is voiced by Rob Paulsen, the same person who voices Carl Wheezer in the original series.

Aseefa (voiced by Soleil Moon Frye) is a brave, blue-skinned Glimmorian girl whose ponytail functions as a third arm. You know she is near when you hear her Glimmorian battle call which is actually just yodeling, which Sheen finds attractive (In the pilot, when Aseefa had left, Sheen had said " She has a monster for a pet AND she can yodel! That's my kind of girl!"). She is an adventurous tomboy and warrior. Sheen has a crush on Aseefa, but he is too nervous to tell her because of uncertainty of her feelings towards him (though she most likely feels the same for him). Aseefa somewhat replaces Libby as Sheen's love interest. Aseefa resembles Neytiri from Avatar; however, this is merely a coincidence, as her character was designed before Avatar was released. She has revealed that she speaks at least 14 languages, including "Zeenunian" (almost identical to English) and "Fire Waffle." Sheen never explained why he isn't together with Libby. It is in fact hinted that Aseefa may have similar feelings for Sheen when Sheen commented in one episode that she was pretty and Aseefa became noticeably excited and asked "really?" She seemed upset when Sheen hastily replied "no" as a cover-up.

Chock Chock (voiced by Fred Tatasciore) is Aseefa's pet Chocktow. He is a large green, dinosaur-like creature capable of breathing fire, reading, and playing the concertina. The color of his scales is odd, because as shown in the episode "What's up Chock?" most male Chocktows are some shade of blue, though there have been other green Chocktows besides him (though it is uncommon). He once fell in love with a pink female Chocktow but quickly decided against it when she rejected him for another.

Planet Sheen premiered in the United States on Nickelodeon on October 2, 2010. Nicktoons began showing reruns of the series on May 4, 2012. Nickelodeon Canada aired a sneak peek of the series on January 2, 2011, which was followed by an official premiere on January 5, 2011. On July 21, 2011, the series debuted in Australia and New Zealand on Nickelodeon Australia and New Zealand . Planet Sheen also aired on Nickelodeon in the UK and Ireland, with a sneak peek on May 2, 2011, and an official premiere on June 6, 2011.